Companion Ability Bars

Does anyone know if there is a way to add our companions different abilities to their ability bar that is shown. You know it shows 4 abilities, but they have more. I would like to be able to drag and drop the main ones that I want to use to the bar instead of what is there. I know when you collapse the bar it shows under our main tool bar, but that takes aways the other action bar for us.

i know under 'interface' in options you can change where their expanded bar goes. aka if you want to use the center bottom bar for your own skills, change the option so companion's goes to left screen (or right).

Yes, you can do what strechypants suggested, and you can also assign hotkeys to the companions' abilities through the quickslot options in case there are certain actions you want to be able to manually control.